Preheat oven to 400 degrees F. Line a baking sheet with parchment paper.
In a medium bowl, whisk together almond milk and flour. Add the cauliflower florets, and mix until they are coated. Transfer florets to the lined baking sheet. Roast for 15 minutes.
While the cauliflower is roasting, prepare the sauce. Combine honey, soy sauce, rice vinegar, sesame oil, orange juice, orange zest, ginger, and garlic in a small saucepan over high heat. Bring to a boil, whisking often. In a separate bowl, whisk the cornstarch and water together.
Add the cornstarch and water mixture to the boiling sauce. Bring it back to a boil and cook, stirring often until sauce thickens, about 5 minutes. The sauce should be sticky and thick. Remove sauce from heat.
Once the cauliflower is finished baking, pour sauce over florets. You may need to use a brush to completely coat the florets in the sauce. Roast for another 10 minutes.
Remove from oven. Top with scallions and sesame seeds to serve. Enjoy!